Yes. Because it is the same work being done by the waiter. The only difference between the two restaurants is the quality of the food, which is something upon which the waiter has no impact.
When I do take the family out, I try to patronize places which do not require tipping, which are usually places where you go pick up the food at the counter when it is prepared. I prefer saving money that way.
the level of service you receive from a high-end dining is light years ahead of what you get from a chain restaurant.
if you prefer to go to fast-food joints, that's cool. but if you go to a place and do not tip a certain percentage, then you deserve the ire of the staff and should get a good talking-to.
if you leave $6 on a $30 bill, that's 20%. if you leave that same $6 on a $300 bill, that's 2%.
if you think that is acceptable, then please stick to long john silver's.